ICRA 2011 Paper Abstract

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Paper TuP112.2

Lee, Dong-Hyuk (Sungkyunkwan University), Moon, Hyungpil (SungKyunKwan University), Choi, Hyouk Ryeol (Sungkyunkwan University)

Autonomous Navigation of In-Pipe Working Robot in Unknown Pipeline Environment

Scheduled for presentation during the Regular Sessions "Field and Underwater Robotics I" (TuP112), Tuesday, May 10, 2011, 13:55−14:10, Room 5H

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on April 21, 2019

Keywords Field Robots, Autonomous Navigation, Robotics in Hazardous Fields

Abstract

In this paper, we present the autonomous pipeline navigation method of an in-pipe robot, based on the landmark recognition system and 3D pose sensor. The fittings of pipelines such as elbows and branches can be used as the landmarks. In this paper, we introduce a noise tolerant landmark detection method using a line laser beam projected on the internal surface of the pipeline. Once the line laser is projected on the surface of landmarks, a unique line pattern is generated. By using this line pattern the robot can easily detect and distinguish these landmarks while recognizing the direction of the pipeline path. Simultaneously, the robotís pose information from the attitude sensor and the driving motorís encoder is continuously recorded and used to reconstruct a map of the pipelines. By using this map and a specific navigation strategy, the robot can navigate in the 3D pipeline autonomously. The effectiveness of the proposed method is validated by experiments using the in-pipe robot called MRINSPECT V.

 

 

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